Package org.hyperonline.hyperlib.vision

Class ClosestPairTargetProcessor

java.lang.Object

org.hyperonline.hyperlib.vision.AbstractTargetProcessor<TargetWithHeightResult>

org.hyperonline.hyperlib.vision.ClosestPairTargetProcessor

All Implemented Interfaces:

TargetProcessor

public class ClosestPairTargetProcessor
extends AbstractTargetProcessor<TargetWithHeightResult>

Target processor which finds the closest two targets to the crosshairs, and averages their position. This is the algorithm that was used to track the boiler in the 2017 steamworks game. It can more generally be applied to anything that's two pieces of tape. This processor uses the height of the targets to measure distance. However, it computes x, y, and height all as simple averages, rather than weighting by depth. This is a good approximation as long as one target is not significantly closer than the other, meaning the camera is not viewing the target from a steep angle.

Constructor Summary

Constructors

Constructor	Description
ClosestPairTargetProcessor(int xCrosshairs, int yCrosshairs)	Construct a new target processor with the given fixed crosshairs position.
ClosestPairTargetProcessor(java.util.function.IntSupplier xCrosshairs, java.util.function.IntSupplier yCrosshairs)	Construct a new target processor which reads crosshairs position from the given functions.

Method Summary

Modifier and Type	Method	Description
TargetWithHeightResult	computeResult(java.util.List<org.opencv.core.Rect> targets)
TargetWithHeightResult	getDefaultValue()
edu.wpi.first.wpilibj.PIDSource	heightPID()	Get a PID source that returns the height of the target.
void	writeOutput(org.opencv.core.Mat mat)	Draw overlays on the image.

Methods inherited from class org.hyperonline.hyperlib.vision.AbstractTargetProcessor

getLastResult, process, xPID, yPID

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClosestPairTargetProcessor

public ClosestPairTargetProcessor(int xCrosshairs,
                                  int yCrosshairs)

Construct a new target processor with the given fixed crosshairs position.

Parameters:

xCrosshairs - X coordinate for the crosshairs

yCrosshairs - Y coordinate for the crosshairs

ClosestPairTargetProcessor

public ClosestPairTargetProcessor(java.util.function.IntSupplier xCrosshairs,
                                  java.util.function.IntSupplier yCrosshairs)

Construct a new target processor which reads crosshairs position from the given functions. The most common use case would be to pass IntPreference.get(). Whatever you pass must be safe to call from the vision thread, so it should not reference the internals of commands, subsystems, or other robot code. Note that preferences are safe to access from any thread.

Parameters:

xCrosshairs - X coordinate for the crosshairs

yCrosshairs - Y coordinate for the crosshairs

Method Detail

computeResult

public TargetWithHeightResult computeResult(java.util.List<org.opencv.core.Rect> targets)

Specified by:

computeResult in class AbstractTargetProcessor<TargetWithHeightResult>

Parameters:

targets - list of targets to compute

Returns:

{T}

heightPID

public edu.wpi.first.wpilibj.PIDSource heightPID()

Get a PID source that returns the height of the target.

Returns:

A PID source returning the height of the target.

writeOutput

public void writeOutput(org.opencv.core.Mat mat)

Draw overlays on the image. This should give the user some indication of what the result of TargetProcessor.process(List) was.

Parameters:

mat - The image to draw on.

getDefaultValue

public TargetWithHeightResult getDefaultValue()

Specified by:

getDefaultValue in class AbstractTargetProcessor<TargetWithHeightResult>

Returns:

{T}